Research supported by this contract includes perception for road following, terrain mapping for off-road navigation, and systems software for building integrated mobile robots. We overview our efforts for the year, and list our publications and personnel, then provide further detail on several of our subprojects. During the past year, this contract has supported research on color vision for road following; 3-D perception for terrain mapping and cross- country mobility; and system building for autonomous navigation. We have demonstrated autonomous navigation on a variety of roads, including single lane dirt, gravel , and paved; and multi-lane roads with and without lane markings. Our perception modules use a variety of techniques for video processing (clustering theory, symbolic feature detection, neural nets), and for range data analysis (landmark navigation, reflectance processing). We have also integrated position-based navigation (INS and GPS), and combinations of all these techniques into mobile robot systems and demonstrations. Our scientific papers this year include a book (Vision and Navigation: the CMU Navlab), three PhD dissertations, and an MS thesis.

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